Triaxial control system



March 14, 1961 F. s. MALIcK ETAL 2,974,620

TRIAXIAL CONTROL SYSTEM 3 Sheets-Sheet 1 Filed July 15, 1953 IN VEN TORS MALICK THOMAS A. DALY FRANKLIN BY p March 14, 1961 F. s. MALICK ETAL 2,974,620

TRIAXIAL CONTROL SYSTEM 5 Sheets-Sheet 2 Filed July 15, 1953 MMYE E AR 3 Y W W E I N use R K O N T MO T RTJ A March 14, 1961 F. s. MALICK ETAL 2,974,620

TRIAXIAL CONTROL SYSTEM 5 Sheets-Shet 3 Filed July 15, 1953 E DR 8 Vs Y m Ad E N V N IS R mmw A 2,974,620 Patented Mar. 14, 1961- and CONTROL SYSTEM Filed July 15, 1953, Ser. No. 368,082

1 Claim. (Cl. 114-23) This invention relates to torpedoes and more particularly to a triaxial guidance system for controlling the elevational, azimuthal, and roll directions of movement thereof.

The principal object of the invention is to provide a system of the type referred to which effects operation of a pair of directional control surfaces in a differential manner such that the pair of surfaces serve the dual function of controlling the direction of the torpedo in one plane of its movement and the roll about its axis of movement.

Another object is to provide a system in accordance with the foregoing object wherein the control surfaces are the torpedo elevators which control the direction of movement in. the elevation-a1 plane of its movement.

Another object is to provide a system wherein the control surfaces are operated by actuators which are driven by a propeller shaft of the torpedo.

Other objects and many of the attendant advantages of this invention will be readily appreciated as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

Fig. 1 is a diagrammatic illustration of the invention;

Fig. 2 is a diagrammatic illustration of one of the actuators of Fig. 1 and a control surface operated thereby;

Fig. 3 is a section taken on line 3--3, Pig. 4, portions being broken away; and

Fig. 4 is a side elevation of the tail cone of a torpedo, portions being broken away, other portions being broken out, and certain of the portions shown in Fig. 3 omitted.

Referring in detail to the drawing, and particularly Figs. 1 and 2, the subject of the invention comprises, in general, a pivotally mounted torpedo rudder I!) having upper and lower portions a, 10a which are conjointly operated by an actuator 11a, and a pair of pivotally mounted elevators 12b, 120 which are operated by actuators 11b, 110, respectively. The actuators are driven by a propeller shaft 13 and are controlled by a guidance control 14. In the broader aspects of the invention the actuators may be of any desired type but the preferred type is that disclosed in the patent application of Franklitn S. Malick, Serial No. 167,394, filed June 10, 1950, Patent No. 2,647,601. This type of actuator 11 is diagrammatically illustrated in Fig. 2 and comprises a constantly driven shaft 15 which drives a gear 16 in one direction and another gear 17 in the opposite direction through a reversing gear train 18. Magnetically actuated clutches 19, 20 may be selectively engaged with members driven by gears 16, 17 to efiect rotation of shaft 21 in either of opposite directions. Shaft 21 is operativeiy connected through a reduction gear 22 to a pivotally mounted control surface C which may be either of the elevators 12b, 120 or rudder 10 previously referred to. Circuits 23 control the engagement of the clutches by signals received from guidance control 14 which may be of any suitable type.

The various actuators may be arranged within a torpedo and kinematically linked to the various control surfaces in any desired manner, a preferred embodiment being illustrated in Figs. 3 and 4. Reduction gear units 22a, 22b, 220 are affixed in any suitable manner to bulkhead 24 within torpedo T. The various actuators 11a, 11b, 11c are secured to the rear ends of these units and are driven by power input shafts 15a, 15b, 15c respectively. Driven pulleys 25a, 25b, 250 are afiixed, respectively, to these shafts and are driven by a belt 26 which engages a drive pulley 27 affixed to propeller shaft 13. Oscillatable arms 28a, 28b, 28c are kinematically connected to the respective output shafts of the actuators, such as shaft 21b, so that rotation of the output shafts in either of opposite directions effects swinging movement of the arms in either of opposite directions. An adjustable link, 2% is pivotally connected at its ends to arm 28b and an arm 30b which is affixed to shaft 31b, the latter being afiixed to elevator 12b. Arm 28:: is similarly connected to elevator 12c by link 29c, arm 30c and shaft 310, as shown in Fig. 1. Arm 28a is similarly connected to a yoke 30a, the upper and lower ends of which are affixed to shafts 31a, 31a, the latter being affixed to portions 119a, lila, of rudder 10.

The torpedo may be propelled in any manner well known in the art which has been illustrated in one form as contra-rotating propellers 32, 33 afiiXed, respectively, to propeller shafts 13, 13a which are rotated in opposite directions by any suitable engine or motor and power transmission system. During the run of the torpedo the various actuators are constantly driven by propeller shaft 13 and clutched to their respective output shafts, such as shaft 21!), in response to signals received from control 14. In event the control unit calls for a guidance correction in an azimuthal direction portions 10a, 10a of rudder 1% are conjointly swung the same angular amount in either of opposite directions away from their normal or neutral positions as will be readily apparent, this being conventional. If a correction in an elevational direction is called for the elevators similarly swing away from their neutral positions equal amounts under operation of their separate actuators. If a roll correction is called for while the elevators are maintained the foregoing correction the signal from control 14 will effect further angular moveent of one of the elevators from its neutral position and movement of the other elevator toward its neutral position, that is, a differential movement of the elevators. This maintains the elevational control the same as formerly but now adds a roll correction. If a roll correction is called for while the elevators are in their neutral position, that is, when no elevational control is being called for, then the elevators swing away from their neutral positions in opposite directions and in equal an gular amounts.

Obviously many modifications and variations of the present invention are possible in the light of the above teachings. It is therefore to be understood that within the scope of the appended claim the invention may be practiced otherwise than as specifically described.

What is claimed is:

In combination with a torpedo, a rudder pivotally carried by the torpedo adapted to control the direction of the torpedo in its azimuthal plane of movement, a pair of elevators pivotally carried by the torpedo adapted to control the direction of the torpedo in its elevational plane of movement, an actuator for swinging the rudder about its pivotal aXis, separate actuators for swinging each of the elevators about their pivotal axes in the same or opposite angular directions, a torpedo propeller shaft, said actuators being of the type each having a constantly rotating power input shaft and an output shaft adapted to be selectively rotated in either or opposite directions in response to operation of magnetic clutch means, the input shafts being disposed for rotation about angularly spaced axes substantially parallel to the axis of rotation of the propeller shaft, a drive pulley affixed to the propeller shaft, a driven pulley for rotating each input shaft, and a belt trained about the drive and driven pulleys.

' Beferences Cited in the file of this patent Z Winkley Ian. 19, 1926 Hammond Apr. 26, 1932 Rouse Apr. 30, 1935 Waterman Sept. 12, 1939 Leonard Mar. 18, 1947 Hare-um Mar. 25, 1947 Gille et a1. Aug. 19, 1947 Hammond May 1, 1951 Merrill July 15, 1952 Wheeler Oct. 6, 1953 Frystak L. Oct. 13, 1953 Lear Nov. 23, 1954 

